/*
 * Copyright (c) 2024, Texas Instruments Incorporated
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * *  Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 *
 * *  Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in the
 *    documentation and/or other materials provided with the distribution.
 *
 * *  Neither the name of Texas Instruments Incorporated nor the names of
 *    its contributors may be used to endorse or promote products derived
 *    from this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
 * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
 * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
 * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
 * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
 * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
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 * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */

#include "softStop.h"
#include "appDefs.h"

void softStopInit(SOFT_STOP_T *pSoftStop)
{
    pSoftStop->flags.b.status = FALSE;
    pSoftStop->flags.b.enableOnBrake = FALSE;
}

void softStopRun(SOFT_STOP_T *pSoftStop)
{
    int32_t
    speedReference,
    speed;

    speedReference = _IQabs(**pSoftStop->ppVelocityReference);
    speed = (*pSoftStop->pSpeed);

    if((speedReference <= pSoftStop->minimumSpeed) &&
            (speed <= pSoftStop->minimumSpeed))
    {
        pSoftStop->flags.b.status = TRUE;
    }
    else
    {
        pSoftStop->flags.b.status = FALSE;
    }
}
